include: Update DepthImageToLaserScan with distortion model

[laurent-19]

Added distortion model case in the convert func
Used rational polynomial, D coeffs and K coeffs for camera model

[laurent-19]

I tested the packages with a ToF camera from ADI, the adi_3dtof_adtf31xx. The camera provided a camera_info message with distortion coeffs that are not taken into account by default.
e.g. The edges of a rectangular environment were bent according to some distortion model, provided by the camera.
Shouldn't it be some kind of switch case or if-elses for the most encountered distortion models?
I tested this for the rational polynomial model and it worked well.